CN114859969A - Unmanned aerial vehicle detection control system based on array camera monitoring technology - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle detection and control system based on an array camera monitoring technology, relates to the technical field of unmanned aerial vehicle detection and control, and solves the technical problems that in the prior art, the flight route of an unmanned aerial vehicle cannot be predicted, and accurate interception cannot be implemented; the corresponding monitorable area is used for judging the unmanned aerial vehicle, and after the corresponding monitorable area is judged as the unmanned aerial vehicle, the unmanned aerial vehicle is intercepted accurately in real time, the area of the unmanned aerial vehicle entering the monitorable area is reduced, and the work efficiency of unmanned aerial vehicle monitoring is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle detection and control, in particular to an unmanned aerial vehicle detection and control system based on an array camera monitoring technology.
Background
The unmanned air vehicle is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The aircraft can take off like a common airplane under the radio remote control or launch and lift off by a boosting rocket, and can also be thrown into the air by a mother aircraft for flying. During recovery, the aircraft can land automatically in the same way as the common aircraft landing process, and can also be recovered by a parachute or a barrier net for remote control. Can be repeatedly used for many times; the method is widely used for aerial reconnaissance, monitoring, communication, anti-submergence, electronic interference and the like.
In the prior art, unmanned aerial vehicle detection cannot be performed on an area through a camera, detection accuracy of the unmanned aerial vehicle cannot be improved according to area analysis, a flight route of the unmanned aerial vehicle cannot be predicted, and accurate interception cannot be implemented; therefore, an unmanned aerial vehicle detection control system based on an array camera monitoring technology is provided.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned aerial vehicle detection control system based on an array camera monitoring technology, whether the current unmanned aerial vehicle monitoring area is suitable for the unmanned aerial vehicle to fly is judged through environment analysis, the unmanned aerial vehicle monitoring accuracy is improved through the environment analysis, and whether the environment is suitable for the unmanned aerial vehicle to fly is judged at the same time, so that the monitoring cost of the unmanned aerial vehicle is reduced while the unmanned aerial vehicle monitoring efficiency is ensured, and the generation of unnecessary monitoring cost is avoided; the corresponding monitorable area is used for judging the unmanned aerial vehicle, and after the corresponding monitorable area is judged as the unmanned aerial vehicle, the unmanned aerial vehicle is intercepted accurately in real time, the area of the unmanned aerial vehicle entering the monitorable area is reduced, and the work efficiency of unmanned aerial vehicle monitoring is improved.
The purpose of the invention can be realized by the following technical scheme:
the unmanned aerial vehicle detection control system based on the array camera monitoring technology comprises a server, wherein the server is connected with a camera position determining unit, a region environment analyzing unit and an unmanned aerial vehicle judging unit;
the server generates a camera position determination signal and sends the camera position determination signal to the camera position determination unit, camera presetting is carried out on the unmanned aerial vehicle monitoring area through the camera position determination unit, the preset position of the unmanned aerial vehicle monitoring area is analyzed after the camera presetting is finished, and whether the current preset position is qualified or not is judged; after the camera setting area is obtained through analysis, the number of the corresponding camera setting area is sent to a server;
the server generates a regional environment analysis signal and sends the regional environment analysis signal to a regional environment analysis unit after receiving the camera set regional number, the regional environment analysis unit performs environment analysis on the unmanned aerial vehicle monitoring region, feasible flight routes in the unmanned aerial vehicle monitoring region are obtained through the environment analysis, and meanwhile whether the current unmanned aerial vehicle monitoring region is suitable for the unmanned aerial vehicle to fly or not is judged through the environment analysis; acquiring a monitorable area in the unmanned aerial vehicle monitoring area in real time according to the camera setting area, and sending a flyable route in the monitorable area and a corresponding node area to a server through analysis;
after receiving the flyable route and the corresponding node area, the server generates an unmanned aerial vehicle judgment signal and sends the unmanned aerial vehicle judgment signal to the unmanned aerial vehicle judgment unit, the unmanned aerial vehicle judgment unit judges the corresponding monitorable area to judge the unmanned aerial vehicle into the unmanned aerial vehicle, and then the unmanned aerial vehicle is intercepted accurately in real time.
Further, the camera position determination unit operates as follows:
divide unmanned aerial vehicle monitoring area into i subregions, i is for being greater than 1 natural number, it predetermines the subregion with setting up the camera in the unmanned aerial vehicle monitoring area, and predetermine the subregion at the camera and set up the camera, after accomplishing the camera setting, gather the total area that camera prediction subregion corresponds the camera cooperation monitoring in the unmanned monitoring area and the ratio in unmanned aerial vehicle monitoring area, and compare the total area that camera prediction subregion corresponds the camera cooperation monitoring in the unmanned monitoring area and the ratio in unmanned aerial vehicle monitoring area and area ratio threshold value:
if the ratio of the total area of the camera matched monitoring corresponding to the preset sub-area of the camera in the unmanned monitoring area to the unmanned monitoring area exceeds an area ratio threshold, judging that the corresponding preset sub-area of the camera is qualified to select, and analyzing the preset sub-area of the camera;
if the ratio of the total area of the camera matching monitoring corresponding to the preset sub-area of the camera in the unmanned monitoring area to the unmanned monitoring area does not exceed the area ratio threshold, judging that the corresponding camera preset sub-area is unqualified, generating a preset sub-area unqualified signal, sending the preset sub-area unqualified signal to a server, and resetting the corresponding unmanned monitoring area to preset the camera sub-area after the server receives the preset sub-area unqualified signal.
Further, the camera preset sub-region analysis process is as follows:
the method comprises the following steps of collecting the camera monitoring maximum area of the preset sub-area of the adjacent camera and the camera monitoring overlapping area of the preset sub-area corresponding to the adjacent camera, and comparing the camera monitoring maximum area of the preset sub-area of the adjacent camera and the camera monitoring overlapping area of the preset sub-area corresponding to the adjacent camera with a maximum area threshold and a monitoring overlapping area threshold respectively:
if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras exceeds the maximum area threshold value, and the area of the camera monitoring overlapping area corresponding to the preset sub-areas of the adjacent cameras exceeds the area threshold value of the monitoring overlapping area, judging that the position of the camera corresponding to the preset sub-areas of the adjacent cameras needs to be adjusted; if the camera monitoring maximum area of the preset sub-areas of the adjacent cameras exceeds the maximum area threshold value and the camera monitoring overlapping area of the corresponding preset sub-areas of the adjacent cameras does not exceed the monitoring overlapping area threshold value, judging that the camera position setting of the corresponding preset sub-areas of the adjacent cameras is qualified, and marking the preset sub-areas of the cameras as camera setting areas;
if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras does not exceed the maximum area threshold value, and the area of the camera monitoring overlapping area corresponding to the preset sub-areas of the adjacent cameras exceeds the area threshold value of the monitoring overlapping area, the camera position corresponding to the preset sub-areas of the adjacent cameras is determined to need to be reset; if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras does not exceed the maximum area threshold value, and the area of the camera monitoring overlapping area of the corresponding preset sub-areas of the adjacent cameras does not exceed the area threshold value of the monitoring overlapping area, it is determined that the corresponding preset sub-areas of the adjacent cameras need to be set.
Further, the operation process of the regional environment analysis unit is as follows:
the method comprises the steps that a monitorable area in an unmanned aerial vehicle monitoring area is obtained in real time according to a camera setting area, and if an area difference exists between the monitorable area and the unmanned aerial vehicle monitoring area, the corresponding difference area does not influence the unmanned aerial vehicle monitoring;
acquiring the height of the barriers in the monitorable area, and marking the barriers with the height exceeding the corresponding height threshold as the barriers; dividing the monitorable area into o node areas, wherein o is a natural number greater than 1, analyzing the node areas, and if no obstacle exists in the node areas, marking the corresponding node areas as flexible flight areas; if the node area is provided with the obstacles, the corresponding node area is marked as a flight limiting area, the flight route in the current area is obtained according to the positions of all the obstacles in the flight limiting area, and the obtained flight route is marked as a sub-flight route;
analyzing according to the position of the node area, acquiring the node area which passes through the current flexible flight area and passes through the monitorable area, and acquiring the flyable route of the unmanned aerial vehicle according to the node area; if the limited flight area exists in the flyable route, marking the corresponding limited flight area as an interceptable area; if the limited flight area does not exist in the flyable route, marking the adjacent flexible flight area corresponding to the current area in the flyable route as an interceptable area;
the visibility of the peripheral environment in each node area and the corresponding wind force value of the peripheral environment are collected in real time, and the visibility of the peripheral environment in each node area and the corresponding wind force value of the peripheral environment are respectively compared with a visibility threshold value and a wind force value threshold value:
if any numerical value of the visibility of the peripheral environment in the node area and the corresponding wind force value of the peripheral environment exceeds a corresponding threshold value, marking the corresponding node area as an invalid flight area; and if the visibility of the peripheral environment in the node area and the two values in the wind force values corresponding to the peripheral environment do not exceed the corresponding threshold values, marking the corresponding node area as an effective flight area.
Further, the operation process of the unmanned aerial vehicle judging unit is as follows:
the method comprises the steps that a camera is used for obtaining pictures of a monitorable area, whether an unmanned aerial vehicle exists in the monitorable area or not is judged according to an image recognition technology, after the unmanned aerial vehicle exists in the monitorable area, a node area position of the unmanned aerial vehicle in the monitorable area is obtained, a flying route of the current unmanned aerial vehicle in the monitorable area is obtained according to the node area position, the corresponding flying route is marked as a preset flying route, then the preset flying route is subjected to invalid flying area and valid flying area screening, and the screened preset flying route is marked as a residual flying route;
if the unmanned aerial vehicle is in the limited flight area in the rest flight routes, performing sub-flight route monitoring on the limited flight area where the unmanned aerial vehicle is currently located, intercepting the unmanned aerial vehicle in the corresponding limited flight area, generating an interception signal after the interception is completed, sending the interception signal to a server, and performing camera detection on the node area where the corresponding intercepted unmanned aerial vehicle flies after the server receives the interception signal;
if the unmanned aerial vehicle is in the flexible flight area in the remaining flight route, intercepting the adjacent flexible flight area of the area where the unmanned aerial vehicle is currently located in the remaining flight route, conveniently intercepting the unmanned aerial vehicle in the corresponding flexible flight area, generating an interception signal after the interception is finished, and sending the interception signal to the server.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the camera presetting is carried out on the unmanned aerial vehicle monitoring area, the preset position of the unmanned aerial vehicle is analyzed after the camera presetting is finished, and whether the current preset position is qualified or not is judged, so that the camera position is accurately selected, the problem that the unmanned aerial vehicle monitoring efficiency is reduced due to unreasonable camera position selection, the unmanned aerial vehicle enters the monitoring area to cause influence, and the safety performance of the monitoring area is reduced; feasible flight routes in the unmanned aerial vehicle monitoring area are obtained through environmental analysis, whether the current unmanned aerial vehicle monitoring area is suitable for the unmanned aerial vehicle to fly or not is judged through the environmental analysis, the accuracy of unmanned aerial vehicle monitoring is improved through the environmental analysis, whether the environment is suitable for the unmanned aerial vehicle to fly or not is judged, the monitoring cost of the unmanned aerial vehicle is reduced while the monitoring efficiency of the unmanned aerial vehicle is ensured, and unnecessary monitoring cost is avoided; the corresponding monitorable area is used for judging the unmanned aerial vehicle, and after the corresponding monitorable area is judged as the unmanned aerial vehicle, the unmanned aerial vehicle is intercepted accurately in real time, the area of the unmanned aerial vehicle entering the monitorable area is reduced, and the work efficiency of unmanned aerial vehicle monitoring is improved.
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In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is an overall system block diagram of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
The system judges the unmanned aerial vehicle in the area through the camera, and prevents the unmanned aerial vehicle from entering the camera monitoring area; referring to fig. 1, the unmanned aerial vehicle detection control system based on the array camera monitoring technology includes a server, the server is connected with a camera position determining unit, a region environment analyzing unit and an unmanned aerial vehicle determining unit, wherein the server is in bidirectional communication connection with the camera position determining unit, the region environment analyzing unit, the monitoring region analyzing unit and the unmanned aerial vehicle determining unit;
the server generates a camera position determining signal and sends the camera position determining signal to the camera position determining unit, the camera position determining unit carries out camera presetting on an unmanned aerial vehicle monitoring area after receiving the camera position determining signal, analyzes a preset position of the unmanned aerial vehicle after the camera presetting is finished, and judges whether the current preset position is qualified or not, so that the camera position is accurately selected, the problem that the unmanned aerial vehicle monitoring efficiency is reduced due to unreasonable camera position selection is prevented, the unmanned aerial vehicle enters the monitoring area to cause influence, and the safety performance of the monitoring area is reduced;
divide into i subregions with unmanned aerial vehicle monitoring area, i is for being greater than 1 natural number, it presets the subregion with setting up the camera in the unmanned aerial vehicle monitoring area, and preset the camera in the subregion at the camera, after accomplishing the camera setting, gather the total area that camera prediction subregion corresponds the camera cooperation monitoring in the unmanned monitoring area and the ratio in unmanned aerial vehicle monitoring area, and compare total area that camera prediction subregion corresponds the camera cooperation monitoring in the unmanned monitoring area and the ratio in unmanned aerial vehicle monitoring area and area ratio threshold value:
if the ratio of the total area of the camera matched monitoring corresponding to the preset sub-area of the camera in the unmanned monitoring area to the unmanned monitoring area exceeds an area ratio threshold, judging that the corresponding preset sub-area of the camera is qualified to select, and analyzing the preset sub-area of the camera; the method comprises the following steps of collecting the camera monitoring maximum area of the preset sub-area of the adjacent camera and the camera monitoring overlapping area of the preset sub-area corresponding to the adjacent camera, and comparing the camera monitoring maximum area of the preset sub-area of the adjacent camera and the camera monitoring overlapping area of the preset sub-area corresponding to the adjacent camera with a maximum area threshold and a monitoring overlapping area threshold respectively:
if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras exceeds the maximum area threshold value, and the area of the camera monitoring overlapping area corresponding to the preset sub-areas of the adjacent cameras exceeds the area threshold value of the monitoring overlapping area, judging that the position of the camera corresponding to the preset sub-areas of the adjacent cameras needs to be adjusted; if the camera monitoring maximum area of the preset sub-areas of the adjacent cameras exceeds the maximum area threshold value and the camera monitoring overlapping area of the corresponding preset sub-areas of the adjacent cameras does not exceed the monitoring overlapping area threshold value, judging that the camera position setting of the corresponding preset sub-areas of the adjacent cameras is qualified, and marking the preset sub-areas of the cameras as camera setting areas;
if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras does not exceed the maximum area threshold value, and the area of the camera monitoring overlapping area corresponding to the preset sub-areas of the adjacent cameras exceeds the area threshold value of the monitoring overlapping area, the camera position corresponding to the preset sub-areas of the adjacent cameras is determined to need to be reset; if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras does not exceed the maximum area threshold value, and the area of the camera monitoring overlapping area corresponding to the preset sub-areas of the adjacent cameras does not exceed the area threshold value of the monitoring overlapping area, judging that the preset sub-areas of the corresponding adjacent cameras need to be set;
if the ratio of the total area of the camera matching monitoring corresponding to the preset sub-area of the camera in the unmanned monitoring area to the unmanned monitoring area does not exceed the area ratio threshold, judging that the corresponding preset sub-area of the camera is unqualified, generating an unqualified preset sub-area signal and sending the unqualified preset sub-area signal to the server, and resetting the preset camera sub-area of the corresponding unmanned monitoring area after the server receives the unqualified preset sub-area signal;
the method comprises the steps of obtaining a camera setting area, sending a corresponding camera setting area number to a server, generating an area environment analysis signal and sending the area environment analysis signal to an area environment analysis unit after the server receives the camera setting area number, carrying out environment analysis on an unmanned aerial vehicle monitoring area after the area environment analysis unit receives the area environment analysis signal, obtaining a feasible flight route in the unmanned aerial vehicle monitoring area through the environment analysis, judging whether the current unmanned aerial vehicle monitoring area is suitable for unmanned aerial vehicle flight or not through the environment analysis, improving the accuracy of unmanned aerial vehicle monitoring through the environment analysis, judging whether the environment is suitable for unmanned aerial vehicle flight or not, reducing the monitoring cost of the unmanned aerial vehicle while ensuring the unmanned aerial vehicle monitoring efficiency, and avoiding the generation of unnecessary monitoring cost;
the method comprises the steps that a monitorable area in an unmanned aerial vehicle monitoring area is obtained in real time according to a camera setting area, and if an area difference exists between the monitorable area and the unmanned aerial vehicle monitoring area, the corresponding difference area does not influence the unmanned aerial vehicle monitoring;
acquiring the height of the barriers in the monitorable area, and marking the barriers with the height exceeding the corresponding height threshold as the barriers; the obstacles are represented as buildings, signal towers, etc. in the unmanned aerial vehicle monitoring area; dividing the monitorable area into o node areas, wherein o is a natural number greater than 1, analyzing the node areas, and if no obstacle exists in the node areas, marking the corresponding node areas as flexible flight areas; if the node area is provided with the obstacles, the corresponding node area is marked as a flight limiting area, the flight route in the current area is obtained according to the positions of all the obstacles in the flight limiting area, and the obtained flight route is marked as a sub-flight route;
analyzing according to the position of the node area, acquiring the node area which passes through the current flexible flight area and passes through the monitorable area, and acquiring the flyable route of the unmanned aerial vehicle according to the node area; if the limited flight area exists in the flyable route, marking the corresponding limited flight area as an interceptable area; if the limited flight area does not exist in the flyable route, marking the adjacent flexible flight area corresponding to the current area in the flyable route as an interceptable area;
the visibility of the peripheral environment in each node area and the corresponding wind force value of the peripheral environment are collected in real time, and the visibility of the peripheral environment in each node area and the corresponding wind force value of the peripheral environment are respectively compared with a visibility threshold value and a wind force value threshold value:
if any numerical value of the visibility of the peripheral environment in the node area and the corresponding wind force value of the peripheral environment exceeds a corresponding threshold value, marking the corresponding node area as an invalid flight area; if the visibility of the peripheral environment in the node area and the two values in the corresponding wind force values of the peripheral environment do not exceed the corresponding threshold values, marking the corresponding node area as an effective flight area;
sending the flyable route in the monitorable area and the corresponding node area to a server;
after receiving the flyable route and the corresponding node area, the server generates an unmanned aerial vehicle judgment signal and sends the unmanned aerial vehicle judgment signal to the unmanned aerial vehicle judgment unit, after receiving the unmanned aerial vehicle judgment signal, the unmanned aerial vehicle judgment unit judges the corresponding monitorable area to be an unmanned aerial vehicle, and after judging the corresponding monitorable area to be the unmanned aerial vehicle, the unmanned aerial vehicle is intercepted accurately in real time, the area of the unmanned aerial vehicle entering the monitorable area is reduced, and the working efficiency of unmanned aerial vehicle monitoring is improved;
the method comprises the steps that a camera is used for obtaining pictures of a monitorable area, whether an unmanned aerial vehicle exists in the monitorable area or not is judged according to an image recognition technology, after the unmanned aerial vehicle exists in the monitorable area, a node area position of the unmanned aerial vehicle in the monitorable area is obtained, a flying route of the current unmanned aerial vehicle in the monitorable area is obtained according to the node area position, the corresponding flying route is marked as a preset flying route, then the preset flying route is subjected to invalid flying area and valid flying area screening, and the screened preset flying route is marked as a residual flying route; the image recognition technology in this application is publicly known prior art;
if the unmanned aerial vehicle is in the limited flight area in the rest flight routes, performing sub-flight route monitoring on the limited flight area where the unmanned aerial vehicle is currently located, intercepting the unmanned aerial vehicle in the corresponding limited flight area, generating an interception signal after the interception is completed, sending the interception signal to a server, and performing camera detection on the node area where the corresponding intercepted unmanned aerial vehicle flies after the server receives the interception signal;
if the unmanned aerial vehicle is in the flexible flight area in the remaining flight route, intercepting the adjacent flexible flight area of the area where the unmanned aerial vehicle is currently located in the remaining flight route, conveniently intercepting the unmanned aerial vehicle in the corresponding flexible flight area, generating an interception signal after the interception is finished, and sending the interception signal to the server.
When the unmanned aerial vehicle detection control system based on the array camera monitoring technology works, a camera position determining unit is used for conducting camera presetting on an unmanned aerial vehicle monitoring area, after the camera presetting is completed, the preset position of the unmanned aerial vehicle monitoring area is analyzed, and whether the current preset position is qualified or not is judged; after the camera setting area is obtained through analysis, the number of the corresponding camera setting area is sent to a server; the area environment analysis unit is used for carrying out environment analysis on the unmanned aerial vehicle monitoring area, feasible flight routes in the unmanned aerial vehicle monitoring area are obtained through the environment analysis, and meanwhile whether the current unmanned aerial vehicle monitoring area is suitable for the unmanned aerial vehicle to fly or not is judged through the environment analysis; acquiring a monitorable area in the unmanned aerial vehicle monitoring area in real time according to the camera setting area, and sending a flyable route in the monitorable area and a corresponding node area to a server through analysis; the unmanned aerial vehicle judging unit judges the corresponding monitorable area to be the unmanned aerial vehicle, and after the corresponding monitorable area is judged to be the unmanned aerial vehicle, the unmanned aerial vehicle is intercepted accurately in real time.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The unmanned aerial vehicle detection control system based on the array camera monitoring technology is characterized by comprising a server, wherein the server is connected with a camera position determining unit, a region environment analyzing unit and an unmanned aerial vehicle judging unit;
the server generates a camera position determination signal and sends the camera position determination signal to the camera position determination unit, camera presetting is carried out on the unmanned aerial vehicle monitoring area through the camera position determination unit, the preset position of the unmanned aerial vehicle monitoring area is analyzed after the camera presetting is finished, and whether the current preset position is qualified or not is judged; after the camera setting area is obtained through analysis, the number of the corresponding camera setting area is sent to a server;
the server generates a regional environment analysis signal and sends the regional environment analysis signal to a regional environment analysis unit after receiving the camera set regional number, the regional environment analysis unit performs environment analysis on the unmanned aerial vehicle monitoring region, feasible flight routes in the unmanned aerial vehicle monitoring region are obtained through the environment analysis, and meanwhile whether the unmanned aerial vehicle is suitable for flying in the current unmanned aerial vehicle monitoring region is judged through the environment analysis; acquiring a monitorable area in the unmanned aerial vehicle monitoring area in real time according to the camera setting area, and sending a flyable route in the monitorable area and a corresponding node area to a server through analysis;
after receiving the flyable route and the corresponding node area, the server generates an unmanned aerial vehicle judgment signal and sends the unmanned aerial vehicle judgment signal to the unmanned aerial vehicle judgment unit, the unmanned aerial vehicle judgment unit judges the corresponding monitorable area to judge the unmanned aerial vehicle into the unmanned aerial vehicle, and then the unmanned aerial vehicle is intercepted accurately in real time.
2. The system as claimed in claim 1, wherein the camera position determining unit operates as follows:
divide unmanned aerial vehicle monitoring area into i subregions, i is for being greater than 1 natural number, it predetermines the subregion with setting up the camera in the unmanned aerial vehicle monitoring area, and predetermine the subregion at the camera and set up the camera, after accomplishing the camera setting, gather the total area that camera prediction subregion corresponds the camera cooperation monitoring in the unmanned monitoring area and the ratio in unmanned aerial vehicle monitoring area, and compare the total area that camera prediction subregion corresponds the camera cooperation monitoring in the unmanned monitoring area and the ratio in unmanned aerial vehicle monitoring area and area ratio threshold value:
if the ratio of the total area of the camera matched monitoring corresponding to the preset sub-area of the camera in the unmanned monitoring area to the unmanned monitoring area exceeds an area ratio threshold, judging that the corresponding preset sub-area of the camera is qualified to select, and analyzing the preset sub-area of the camera;
if the ratio of the total area of the camera matching monitoring corresponding to the preset sub-area of the camera in the unmanned monitoring area to the unmanned monitoring area does not exceed the area ratio threshold, judging that the corresponding camera preset sub-area is unqualified, generating a preset sub-area unqualified signal, sending the preset sub-area unqualified signal to a server, and resetting the corresponding unmanned monitoring area to preset the camera sub-area after the server receives the preset sub-area unqualified signal.
3. The array camera monitoring technology-based unmanned aerial vehicle detection and control system according to claim 1, wherein the analysis process of the preset sub-area of the camera is as follows:
the method comprises the following steps of collecting the camera monitoring maximum area of the preset sub-area of the adjacent camera and the camera monitoring overlapping area of the preset sub-area corresponding to the adjacent camera, and comparing the camera monitoring maximum area of the preset sub-area of the adjacent camera and the camera monitoring overlapping area of the preset sub-area corresponding to the adjacent camera with a maximum area threshold and a monitoring overlapping area threshold respectively:
if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras exceeds the maximum area threshold value, and the area of the camera monitoring overlapping area corresponding to the preset sub-areas of the adjacent cameras exceeds the area threshold value of the monitoring overlapping area, judging that the position of the camera corresponding to the preset sub-areas of the adjacent cameras needs to be adjusted; if the camera monitoring maximum area of the preset sub-areas of the adjacent cameras exceeds the maximum area threshold value and the camera monitoring overlapping area of the corresponding preset sub-areas of the adjacent cameras does not exceed the monitoring overlapping area threshold value, judging that the camera position setting of the corresponding preset sub-areas of the adjacent cameras is qualified, and marking the preset sub-areas of the cameras as camera setting areas;
if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras does not exceed the maximum area threshold value, and the area of the camera monitoring overlapping area corresponding to the preset sub-areas of the adjacent cameras exceeds the area threshold value of the monitoring overlapping area, the camera position corresponding to the preset sub-areas of the adjacent cameras is determined to need to be reset; if the maximum area of the camera monitoring of the preset sub-areas of the adjacent cameras does not exceed the maximum area threshold value, and the area of the camera monitoring overlapping area of the corresponding preset sub-areas of the adjacent cameras does not exceed the area threshold value of the monitoring overlapping area, it is determined that the corresponding preset sub-areas of the adjacent cameras need to be set.
4. The system as claimed in claim 1, wherein the regional environment analysis unit operates as follows:
the method comprises the steps that a monitorable area in an unmanned aerial vehicle monitoring area is obtained in real time according to a camera setting area, and if an area difference exists between the monitorable area and the unmanned aerial vehicle monitoring area, the corresponding difference area does not influence the unmanned aerial vehicle monitoring;
acquiring the height of the barriers in the monitorable area, and marking the barriers with the height exceeding the corresponding height threshold as the barriers; dividing the monitorable area into o node areas, wherein o is a natural number greater than 1, analyzing the node areas, and if no obstacle exists in the node areas, marking the corresponding node areas as flexible flight areas; if the node area is provided with the obstacles, the corresponding node area is marked as a flight limiting area, the flight route in the current area is obtained according to the positions of all the obstacles in the flight limiting area, and the obtained flight route is marked as a sub-flight route;
analyzing according to the position of the node area, acquiring the node area which passes through the current flexible flight area and passes through the monitorable area, and acquiring the flyable route of the unmanned aerial vehicle according to the node area; if the limited flight area exists in the flyable route, marking the corresponding limited flight area as an interceptable area; if the limited flight area does not exist in the flyable route, marking the adjacent flexible flight area corresponding to the current area in the flyable route as an interceptable area;
the visibility of the peripheral environment in each node area and the corresponding wind force value of the peripheral environment are collected in real time, and the visibility of the peripheral environment in each node area and the corresponding wind force value of the peripheral environment are respectively compared with a visibility threshold value and a wind force value threshold value:
if any numerical value of the visibility of the peripheral environment in the node area and the corresponding wind force value of the peripheral environment exceeds a corresponding threshold value, marking the corresponding node area as an invalid flight area; and if the visibility of the peripheral environment in the node area and the two values in the wind force values corresponding to the peripheral environment do not exceed the corresponding threshold values, marking the corresponding node area as an effective flight area.
5. The system as claimed in claim 1, wherein the unmanned aerial vehicle detection and control system based on the array camera monitoring technology is characterized in that the unmanned aerial vehicle determination unit operates as follows:
the method comprises the steps that a camera is used for obtaining pictures of a monitorable area, whether an unmanned aerial vehicle exists in the monitorable area or not is judged according to an image recognition technology, after the unmanned aerial vehicle exists in the monitorable area, a node area position of the unmanned aerial vehicle in the monitorable area is obtained, a flying route of the current unmanned aerial vehicle in the monitorable area is obtained according to the node area position, the corresponding flying route is marked as a preset flying route, then the preset flying route is subjected to invalid flying area and valid flying area screening, and the screened preset flying route is marked as a residual flying route;
if the unmanned aerial vehicle is in the limited flight area in the rest flight routes, performing sub-flight route monitoring on the limited flight area where the unmanned aerial vehicle is currently located, intercepting the unmanned aerial vehicle in the corresponding limited flight area, generating an interception signal after the interception is completed, sending the interception signal to a server, and performing camera detection on the node area where the corresponding intercepted unmanned aerial vehicle flies after the server receives the interception signal;
if the unmanned aerial vehicle is in the flexible flight area in the remaining flight route, intercepting the adjacent flexible flight area of the area where the unmanned aerial vehicle is currently located in the remaining flight route, conveniently intercepting the unmanned aerial vehicle in the corresponding flexible flight area, generating an interception signal after the interception is finished, and sending the interception signal to the server.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116400738A (en) * | 2023-06-06 | 2023-07-07 | 成都流体动力创新中心 | Low-cost striking method and system for low-speed unmanned aerial vehicle |
| CN116400738B (en) * | 2023-06-06 | 2023-08-08 | 成都流体动力创新中心 | Low-cost striking method and system for low-speed unmanned aerial vehicle |
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